Multi-dimensional rotation bionic hip joint and bionic robot thereof
By designing a multi-dimensional rotation bionic hip joint, using the combination of main seat, base, main shaft, counter shaft, linear actuator and stepper motor, the problem that existing humanoid robots cannot effectively simulate the flexible and efficient movement of the human hip joint, achieving flexible and efficient multi-dimensional rotation and free and smooth movement movements.
Patent Information
- Application Number
- CN202421373729.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-14
- Publication Date
- 2025-04-04
- Estimated Expiration
- 2034-06-14
AI Technical Summary
Existing humanoid robots cannot effectively simulate the flexible and efficient movement of the human hip joints, resulting in poor smooth movement and route trajectory.
A multi-dimensional rotation bionic hip joint is designed, including the main seat, base, main shaft, counter shaft, linear actuator and stepper motor. Through the coordinated work of these components, the multi-dimensional rotation of the hip joint is achieved and the movement trajectory of the human thigh is simulated.
It realizes flexible and efficient movements such as human muscles and joints, can perform complex rotational movements, and maintains a free and smooth movement path during movement and movement, simplifies the structure and replaces the traditional bionic shoulder joint that requires three select actuators.
Smart Images
Figure CN222712186U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of bionic robots, and in particular to a multi-dimensional rotating bionic hip joint and a bionic robot thereof. Background Art
[0002] Humanoid robots adopt the external shape and external motion characteristics of human-like head, neck, shoulder and shoulder joint, arm, hip joint and leg. In order to realize the human walking function and arm grasping and other functions, the research and development of the external motion function of humanoid robots is mainly focused on the engineering realization and motion control of the joints related to the arms and legs, which include shoulder joints, elbow joints, wrist joints, hip joints, knee joints and ankle joints, among which the shoulder joint is more important and complex. Taking the human shoulder joint as an example, it can control the arm to swing forward or backward, left (or right) sideways, and the range of motion can reach 90 degrees or more. In addition, the arm can swing forward or backward in any direction with the shoulder joint as the axis point, and can also make a small angle rotation around the axis of the upper arm bone.
[0003] However, the existing humanoid robots only imitate the human appearance, but lack the extremely important component structure and function mode of the main joints of humans. This does not conform to the principles and purposes of bionics. Humanoid robots that use rotating parts on the hip joints cannot achieve flexible and efficient movements like human muscles and joints. The hip joints can only perform simple rotational movements. When exercising and moving, their movements and route trajectories cannot be as smooth and free as those of the human body. Utility Model Content
[0004] In view of this, the present application proposes a multi-dimensional rotating bionic hip joint and a bionic robot thereof, which are more in line with the movement trajectory of the human thigh.
[0005] According to one aspect of the present application, a multi-dimensional rotating bionic hip joint and a bionic robot thereof are provided, comprising: a main seat, the main seat being a plate-like structure with a preset thickness, a main axis rotating groove being provided at the center position of the side surface of the bottom end, and a plurality of secondary axis rotating grooves being provided along the circumferential direction of the main axis rotating groove, and the interval angles of two adjacent secondary axis rotating grooves being equal;
[0006] A base, the base is a plate-like structure, a main shaft fixing hole is provided at the center, a plurality of rotating parts are provided along the circumferential direction of the main shaft fixing hole, and the interval angles of two adjacent rotating parts are equal;
[0007] A spindle, one end of which in the longitudinal direction is embedded in the spindle rotating groove and rotates around the opening direction of the spindle rotating groove, and the other end is detachably connected to the spindle fixing hole;
[0008] A secondary shaft and a linear actuator, wherein one end of the secondary shaft in the longitudinal direction is embedded in the secondary shaft rotation groove and rotates around the opening direction of the secondary shaft rotation groove, and the other end is connected to the linear actuator, and the linear actuator is rotationally connected to the rotating member on the base, and the linear actuator drives the secondary shaft to extend and retract relative to the linear actuator, thereby driving the secondary shaft and the main shaft to rotate;
[0009] A stepper motor, wherein the output shaft of the stepper motor is connected to the top side surface of the main seat, and the output shaft of the stepper motor is perpendicular to the top side surface of the main seat, driving the main seat to rotate around the length direction of the output shaft.
[0010] In one possible implementation, a mounting portion is provided on the top side of the main seat, an output shaft mounting hole is provided on the top of the mounting portion, the cross-section of the output shaft mounting hole is semicircular, and the output shaft mounting hole is arranged above and below the main shaft rotating groove, the output shaft of the stepper motor matches the output shaft mounting hole, and is embedded inside the output shaft mounting hole.
[0011] In one possible implementation, the mounting portion is a plate-like structure with a preset thickness, the output shaft mounting hole is opened at the center position of the mounting portion, and the plate surface of the mounting portion is provided with a plurality of fixing holes along the output shaft mounting hole, the number of the fixing holes is equal to the number of the secondary shaft rotating grooves, and the fixing holes and the secondary shaft rotating grooves are staggered.
[0012] In a possible implementation, the number of the secondary shaft rotation grooves is 4, and the secondary shaft rotation grooves are arranged at intervals on the bottom end side of the main seat along the circumferential direction of the primary shaft rotation groove;
[0013] The rotating parts on the base correspond one to one with the secondary shaft rotating grooves on the main seat;
[0014] The spacing distance between the rotating member and the main shaft fixing hole is equal to the spacing distance between the secondary shaft rotation groove and the main shaft rotation groove.
[0015] In a possible implementation, the main shaft rotation groove and the secondary shaft rotation groove are both spherical groove structures;
[0016] One end of the spindle in the longitudinal direction is a spindle rolling end, and the other end is a spindle fixed end. The spindle rolling end of the spindle is a spherical structure, embedded in the spindle rotating groove and rotated, and the spindle fixed end of the spindle is connected to the spindle fixing hole on the base;
[0017] One end of the secondary shaft in the length direction is the secondary shaft rolling end, and the other end is the secondary shaft rotating end. The secondary shaft rolling end of the secondary shaft is a spherical structure, embedded in the internal rotation groove of the secondary shaft and rotates. The secondary shaft rotating end of the secondary shaft is rotationally connected to the rotating part on the base through a linear actuator.
[0018] In a possible implementation, the rotating end of the secondary shaft is connected to a push rod of the linear actuator, and the push rod drives the secondary shaft to reciprocate along the length direction of the secondary shaft.
[0019] In a possible implementation, the main seat baffle is further included: a main seat baffle having a plate-like structure with a preset thickness, and a plate surface of the main seat baffle is aligned with the bottom end side surface of the main seat and is fixedly connected to the bottom end side surface of the main seat;
[0020] A main shaft mounting hole is provided at the center of the main seat baffle, and a plurality of secondary shaft mounting holes are provided along the circumferential direction of the main shaft mounting hole. The side wall of the main shaft mounting hole is preset with an arc that matches the rolling end of the main shaft, and the side wall of the secondary shaft mounting hole is preset with an arc that matches the rolling end of the secondary shaft;
[0021] The spacing angles of two adjacent secondary shaft mounting holes are equal, and the primary shaft mounting holes on the main seat baffle plate correspond to the primary shaft rotation grooves on the main seat, and the secondary shaft mounting holes on the main seat baffle plate correspond one to one to the secondary shaft rotation grooves on the main seat.
[0022] In a possible implementation, the thickness of the main seat baffle is in the range of 1 / 9-1 / 10 of the diameter of the rolling end of the main shaft.
[0023] A bionic robot, comprising the above-mentioned multi-dimensional rotating bionic hip joint, further comprising: a bionic robot bracket, a mounting bracket and a rotating bearing;
[0024] The mounting bracket is an annular structure, the rotating bearing is arranged on the mounting bracket, and the outer ring of the rotating bearing is fixedly connected to the inner ring of the mounting bracket, and the inner ring of the rotating bearing is fixedly connected to the outer wall of the mounting portion;
[0025] The plate surface of the mounting bracket is provided with a plurality of bracket mounting holes along the circumferential direction, the mounting bracket is bolted to the hip position of the bionic robot bracket, and the stepper motor is arranged at the hip position of the bionic robot bracket, the output shaft passes through the mounting bracket and the rotating bearing, and is embedded in the output shaft mounting hole, driving the main seat to rotate in the circumferential direction relative to the mounting bracket.
[0026] In a possible implementation, there are two multi-dimensional rotating bionic hip joints, which are respectively arranged at the hip positions of the bionic robot support.
[0027] The beneficial effects of the multi-dimensional rotating bionic hip joint and the bionic robot of the embodiment of the present application are: it can realize flexible and efficient movement like human muscles and joints, and perform complex rotational movement. When performing movement and action, its movement and route trajectory are as smooth and free as the human body, and the overall structure is simple, replacing the traditional bionic shoulder joint that requires at least three selection actuators. Specifically, the convex bone and concave bone groove of the human hip joint are composed of a main shaft rolling end with a spherical structure and a main shaft rotation groove with a ball seat structure. The reliable connection of the hip joint is achieved through the convex main shaft rolling end and the concave main shaft rotation groove seat. The muscles around the human hip joint are simulated by 4 secondary shafts and 4 linear actuators. The tension generated by the expansion and contraction of the human joint muscles is simulated by the push-pull movement of the 4 linear actuators to control the multi-dimensional movement of the joint. In order to ensure the horizontal movement of the hip joint, a stepper motor is configured on the outside of the inward position at the horizontal line of the main seat. It is connected to the main seat through the output shaft. The main seat is driven to rotate by the output shaft of the stepper motor, so that the hip joint of the bionic robot can rotate in the horizontal direction and imitate the muscle state of the human thigh when walking, making the multi-dimensional rotating bionic shoulder joint more flexible and in line with the movement trajectory of the human hip.
[0028] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application and, together with the description, serve to explain the principles of the present application.
[0030] Figure 1 A schematic diagram showing a multi-dimensional rotating bionic hip joint according to an embodiment of the present application;
[0031] Figure 2 A schematic diagram showing the interior of a stepper motor of a multi-dimensional rotating bionic hip joint according to an embodiment of the present application;
[0032] Figure 3 Another schematic diagram showing a multi-dimensional rotation bionic hip joint according to an embodiment of the present application;
[0033] Figure 4 A schematic top view of a multi-dimensional rotating bionic hip joint according to an embodiment of the present application is shown;
[0034] Figure 5 A schematic diagram showing a stepper motor for a multi-dimensionally rotating bionic hip joint according to an embodiment of the present application;
[0035] Figure 6 A bottom view schematically shows a base baffle of a multi-dimensional rotating bionic hip joint according to an embodiment of the present application;
[0036] Figure 7 A schematic top view of a base baffle of a multi-dimensional rotating bionic hip joint according to an embodiment of the present application is shown;
[0037] Figure 8 A schematic diagram showing a base of a multi-dimensional rotating bionic hip joint according to an embodiment of the present application;
[0038] Fig. 9 A schematic diagram showing the secondary axis of the multi-dimensional rotating bionic hip joint according to an embodiment of the present application;
[0039] Fig.10 A bottom view schematic diagram showing a main seat of a multi-dimensional rotating bionic hip joint according to an embodiment of the present application;
[0040] Fig.11 A schematic top view of a main seat of a multi-dimensional rotating bionic hip joint according to an embodiment of the present application is shown;
[0041] Fig.12 A schematic diagram showing a bionic robot support according to an embodiment of the present application. DETAILED DESCRIPTION
[0042] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.
[0043] Among them, it needs to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the utility model or simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.
[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0045] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.
[0046] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.
[0047] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 and Fig.12 The multi-dimensional rotating bionic hip joint and the bionic robot of the embodiment of the present application include: the main seat 200 is a plate-like structure with a preset thickness, a main shaft groove 2011 is provided at the center position of the bottom side, and a plurality of secondary shaft grooves 2012 are provided along the circumferential direction of the main shaft groove 2011, and the interval angles of two adjacent secondary shaft grooves 2012 are equal; the base is a plate-like structure, a main shaft fixing hole is provided at the center position, and a plurality of rotating members 270 are provided along the circumferential direction of the main shaft fixing hole, and the interval angles of two adjacent rotating members 270 are equal; one end of the main shaft in the length direction is embedded in the main shaft groove 2011, and the opening around the main shaft groove 2011 is The secondary shaft is provided with a linear actuator 250, and the linear actuator 250 is rotatably connected to the rotating member 270 on the base. The linear actuator 250 drives the secondary shaft to extend and retract relative to the linear actuator 250, driving the secondary shaft and the main shaft to rotate. The output shaft 211 of the stepper motor 21 is connected to the top side of the main seat 200, and the output shaft 211 of the stepper motor 21 is perpendicular to the top side of the main seat 200, driving the main seat 200 to rotate around the length direction of the output shaft 211.
[0048] In this embodiment, the multi-dimensional rotating bionic hip joint 2 of the present application can achieve flexible and efficient movement like human muscles and joints, and perform complex rotational movement. When performing movement and action, its movement and route trajectory are as smooth and free as the human body, and the overall structure is simple, replacing the traditional bionic shoulder joint that requires at least three selection actuators. Specifically, a convex bone and concave bone groove of a human hip joint are formed by a main shaft rolling end with a spherical structure and a main shaft rotation groove 2011 with a ball seat structure. The convex main shaft rolling end and the concave main shaft rotation groove 2011 seat are used to achieve reliable connection of the hip joint. Four secondary shafts and four linear actuators 250 simulate the muscles around the human hip joint. The push-pull movement of the four linear actuators 250 simulates the tension generated by the expansion and contraction of the human joint muscles to control the multi-dimensional movement of the joint. In order to ensure the horizontal movement of the hip joint, a stepper motor 21 is arranged outside the inward position of the horizontal line of the main seat 200, and is connected to the main seat 200 through an output shaft 211. The main seat 200 is driven to rotate by the rotation of the output shaft 211 of the stepper motor 21, so that the hip joint of the bionic robot can rotate in the horizontal direction and imitate the muscle state of the human thigh when walking, so that the multi-dimensional rotating bionic shoulder joint is more flexible and conforms to the movement trajectory of the human hip.
[0049] It should be noted that the linear actuator 250 is a device that realizes linear motion through motor drive, and its structure generally includes components such as an electric motor, a reduction mechanism, and a guide rail. As an important driving device, the linear actuator 250 plays an important role in various fields of modern society. Therefore, the linear actuator 250 can be realized through existing technology and will not be elaborated on here.
[0050] In a specific implementation, a mounting portion 280 is provided on the top side of the main seat 200, and an output shaft mounting hole 291 is provided on the top of the mounting portion 280. The output shaft 211 of the stepper motor 21 matches the output shaft mounting hole and is embedded in the output shaft mounting hole 291 to drive the main seat 200 to rotate around the output shaft 211.
[0051] In this embodiment, the cross-section of the output shaft mounting hole 291 is semicircular, and the cross-section of the output shaft 211 of the stepper motor 21 is the same as the cross-section of the output shaft mounting hole 291. When the output shaft 211 of the stepper motor 21 is embedded in the output main mounting hole opened at the top of the mounting part 280, it can drive the main seat 200 to rotate.
[0052] In this embodiment, the output shaft mounting hole 291 and the main shaft rotation groove 2011 are arranged vertically, so that the multi-dimensional rotating bionic hip joint 2 can rotate around the main shaft.
[0053] In a specific embodiment, the mounting portion 280 is a plate-like structure with a preset thickness, the output shaft mounting hole 291 is opened at the center position of the mounting portion 280, and the plate surface of the mounting portion 280 is provided with a plurality of fixing holes along the output shaft mounting hole 291, the number of the fixing holes is equal to the number of the secondary shaft grooves 2012, and the fixing holes and the secondary shaft grooves 2012 are staggered, the mounting portion 280 applies force to the top of the main seat 200 in the same direction and in the same size, and while fastening the mounting portion 280 and the main seat 200 together, uneven force on the main seat 200 is avoided.
[0054] In a specific embodiment, there are four secondary shaft grooves 2012, which are arranged at intervals along the circumferential direction of the main shaft groove 2011 on the bottom side of the main seat 200, and one main shaft groove 2011 is arranged around the center, and the rotating member 270 on the base corresponds to the secondary shaft groove 2012 on the main seat 200. The spacing distance between the rotating member 270 and the main shaft fixing hole is equal to the spacing distance between the secondary shaft groove 2012 and the main shaft groove 2011, which is used to simulate the bones and muscles of the thigh. Specifically, the main shaft simulates the humeral head of the human hip joint, which is mainly used to bear the downward gravity of the thigh and support the free movement of the thigh. The four secondary shafts and the corresponding four linear actuators 250 are connected to provide a force in a push-pull manner, so that the thigh or the center of the spherical coordinates moves outward in a 360-degree direction around the center point.
[0055] In a specific embodiment, the main shaft groove 2011 and the secondary shaft groove 2012 are both spherical groove structures, and one end of the main shaft in the longitudinal direction is the main shaft rolling end, and the other end is the main shaft fixed end. The main shaft rolling end of the main shaft is a spherical structure, embedded in the internal rotation of the main shaft groove 2011, and the main shaft fixed end of the main shaft is connected to the main shaft fixing hole on the base. One end of the secondary shaft in the longitudinal direction is the secondary shaft rolling end, and the other end is the secondary shaft rotating end. The secondary shaft rolling end of the secondary shaft is a spherical structure, embedded in the internal rotation of the secondary shaft groove 2012, and the secondary shaft rotating end of the secondary shaft is rotatably connected to the rotating member 270 on the base through the linear actuator 250. Among them, the secondary shaft controls the base to rotate relative to the main seat 200 by connecting the linear actuator 250. The main shaft is a fixed length limit. Under the action of the four linear actuators 250, the main shaft can only move 360 degrees outward with the main shaft rolling end as the center.
[0056] The main shaft comprises a rod body and a sphere. The rod body is detachably connected to the sphere through the threaded hole by extending on the sphere of the main shaft and providing a threaded hole.
[0057] The threaded hole at the bottom end of the secondary shaft can be detachably connected to the push rod of the linear actuator 250 .
[0058] In a specific embodiment, the rotating end of the secondary shaft is connected to the push rod of the linear actuator 250, and the push rod drives the secondary shaft to reciprocate along the length direction of the secondary shaft. By driving different secondary shafts to move, the secondary shaft and the base can rotate relative to the main seat 200.
[0059] In a specific embodiment, it also includes: a main seat baffle 202; the main seat baffle 202 is a plate-like structure with a preset thickness, and the plate surface of the main seat baffle 202 is aligned with the bottom side of the main seat 200, and is fixedly connected to the bottom side of the main seat 200. A main shaft mounting hole 2013 is opened at the center position of the main seat baffle 202, and a plurality of secondary shaft mounting holes 2014 are arranged along the circumferential direction of the main shaft mounting hole 2013. The side wall of the main shaft mounting hole 2013 is preset with an arc that matches the rolling end of the main shaft, and the side wall of the secondary shaft mounting hole 2014 is preset with an arc that matches the rolling end of the secondary shaft, and the interval angles of two adjacent secondary shaft mounting holes 2014 are equal, and the main shaft mounting hole 2013 on the main seat baffle 202 corresponds to the main shaft rotating groove 2011 on the main seat 200, and the secondary shaft mounting hole 2014 on the main seat baffle 202 corresponds one by one to the secondary shaft rotating groove 2012 on the main seat 200. Specifically, the main seat baffle 202 is provided with one main shaft mounting hole 2013 corresponding to the rolling end of the main shaft, and four secondary shaft mounting holes 2014 corresponding to the rolling ends of the secondary shaft.
[0060] In this embodiment, the cross-sectional diameter of the spindle rolling groove is slightly smaller than the diameter of the spindle rolling end of the spherical structure, and the diameter of the spindle mounting hole 2013 provided on the plate surface of the spindle baffle is slightly smaller than the diameter of the spindle rolling end of the spherical structure, and the end face diameter of the spindle mounting hole 2013 is equal to the end face diameter of the spindle rolling groove and the spindle rolling end diameter, so as to limit the spindle rolling end of the spindle between the main seat 200 and the main seat baffle 202. Among them, the inner circle and the outer circle of the two end faces of the upper spindle mounting hole 2013 of the spindle baffle transition according to the curvature of the sphere surface, forming a curved surface identical to the placed sphere.
[0061] The thickness of the main seat baffle 202 is in the range of 1 / 9-1 / 10 of the diameter of the rolling end of the main shaft, so as to prevent the main seat baffle 202 from excessively restricting the rotation of the main shaft and the secondary shaft.
[0062] Example 1
[0063] There are four secondary shafts, including: a first secondary shaft 210, a second secondary shaft 220, a third secondary shaft 230 and a fourth secondary shaft 240. The first secondary shaft 210, the second secondary shaft 220, the third secondary shaft 230 and the fourth secondary shaft 240 are arranged in sequence in the circumferential direction of the main shaft, and the distance between two adjacent first secondary shafts 210, the second secondary shaft 220, the third secondary shaft 230 and the fourth secondary shaft 240 is equal, and the connecting lines form a square. Among them, the first secondary shaft 210 is located in front of the main shaft, the second secondary shaft 220 and the fourth secondary shaft 240 are on the left and right sides of the main shaft respectively, and the third secondary shaft 230 is located behind the main shaft.
[0064] Specifically, for the right leg of the bionic robot, 1. when the thigh is swung forward, the lengths of the second secondary shaft 220 and the fourth secondary shaft 240 remain unchanged, and the linear actuator 250 on the first secondary shaft 210 moves toward the main seat 200, shortening the length of the first secondary shaft 210, so that the length of the first secondary shaft 210 is less than the length of the main shaft, and the linear actuator 250 on the third secondary shaft 230 moves away from the main seat 200, extending the length of the third secondary shaft 230, so that the length of the third secondary shaft 230 is greater than the length of the main shaft, thereby driving the base to swing toward the front of the bionic robot. 2. When the thigh is swung backward, the lengths of the second secondary shaft 220 and the fourth secondary shaft 240 remain unchanged, and the linear actuator 250 on the third secondary shaft 230 moves toward the main seat 200 to shorten the length of the third secondary shaft 230, so that the length of the third secondary shaft 230 is smaller than the length of the main shaft, and the linear actuator 250 on the first secondary shaft 210 moves away from the main seat 200 to extend the length of the first secondary shaft 210, so that the length of the first secondary shaft 210 is greater than the length of the main shaft, thereby driving the base to swing toward the rear of the bionic robot. 3. When the thigh is swung toward the right side, the lengths of the first sub-shaft 210 and the third sub-shaft 230 remain unchanged, and the linear actuator 250 on the second sub-shaft 220 moves toward the main seat 200 to shorten the length of the second sub-shaft 220, so that the length of the second sub-shaft 220 is smaller than the length of the main shaft, and the linear actuator 250 on the fourth sub-shaft 240 moves away from the main seat 200 to extend the length of the fourth sub-shaft 240, so that the length of the fourth sub-shaft 240 is greater than the length of the main shaft, thereby driving the base to swing toward the right side of the bionic robot. 4. When the thigh is swung toward the right front, the linear actuator 250 on the first secondary shaft 210 and the fourth secondary shaft 240 moves toward the main seat 200, shortening the length of the first secondary shaft 210 and the fourth secondary shaft 240, and the length of the first secondary shaft 210 and the length of the fourth secondary shaft 240 are less than the length of the main shaft, and the length of the first secondary shaft 210 is equal to the length of the fourth secondary shaft 240. The linear actuator 250 on the second secondary shaft 220 and the third secondary shaft 230 moves away from the main seat 200, extending the length of the second secondary shaft 220 and the third secondary shaft 230, so that the length of the second secondary shaft 220 and the third secondary shaft 230 is greater than the length of the main shaft, and the length of the second secondary shaft 220 is equal to the length of the third secondary shaft 230, thereby driving the base to swing toward the right front of the bionic robot.
[0065] A bionic robot also includes: a bionic robot bracket 3, a mounting bracket 20 and a rotating bearing, the mounting bracket 20 is an annular structure, the rotating bearing is arranged on the mounting bracket 20, and the outer ring of the rotating bearing is fixedly connected to the inner ring of the mounting bracket 20, the inner ring of the rotating bearing is fixedly connected to the outer wall of the mounting portion 280, a plurality of bracket mounting holes are opened on the plate surface of the mounting bracket 20 along the circumferential direction, the mounting bracket 20 is bolted to the hip position of the bionic robot bracket 3, and a stepper motor 21 is arranged at the hip position of the bionic robot bracket 3, the output shaft 211 passes through the mounting bracket 20 and the rotating bearing, and is embedded in the output shaft mounting hole 291, driving the main seat 200 to rotate relative to the circumferential direction of the mounting bracket 20.
[0066] In a specific embodiment, there are two multi-dimensional rotating bionic hip joints 2 , which are respectively arranged at the hip positions of the bionic robot support 3 .
[0067] In this embodiment, the two multi-dimensional rotating bionic hip joints 2 correspond to the two thighs of the bionic robot respectively. By installing the bracket 20 and the rotating bearing, the multi-dimensional rotating bionic hip joint 2 can be set at the hip joint position of the bionic robot bracket 3, and can rotate in the horizontal direction relative to the main body of the bionic robot bracket 3, which is more in line with the rotation trajectory of the human thigh.
[0068] Example 2
[0069] In combination with Example 1, when the bionic robot moves, the lengths of the second secondary axes 220 and the third secondary axes 230 of the two multidimensional rotating bionic hip joints 2 are always equal, the length of the first secondary axis 210 of one multidimensional rotating bionic hip joint 2 is always equal to the length of the third secondary axis 230 of the other multidimensional rotating bionic hip joint 2, and the length of the third secondary axis 230 of one multidimensional rotating bionic hip joint 2 is always equal to the length of the first secondary axis 210 of the other multidimensional rotating bionic hip joint 2, thereby realizing the movement of the bionic robot.
[0070] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
Claims
1. A multi-dimensional rotating bionic hip joint, characterized in that: include: The main seat is a plate-like structure with a preset thickness, a main shaft groove is provided at the center of the bottom side, and a plurality of secondary shaft grooves are provided along the circumferential direction of the main shaft groove, and the interval angles of two adjacent secondary shaft grooves are equal; A base, the base is a plate-like structure, a main shaft fixing hole is provided at the center, a plurality of rotating parts are provided along the circumferential direction of the main shaft fixing hole, and the interval angles of two adjacent rotating parts are equal; A spindle, one end of which in the longitudinal direction is embedded in the spindle rotating groove and rotates around the opening direction of the spindle rotating groove, and the other end is detachably connected to the spindle fixing hole; A secondary shaft and a linear actuator, wherein one end of the secondary shaft in the longitudinal direction is embedded in the secondary shaft rotation groove and rotates around the opening direction of the secondary shaft rotation groove, and the other end is connected to the linear actuator, and the linear actuator is rotationally connected to the rotating member on the base, and the linear actuator drives the secondary shaft to extend and retract relative to the linear actuator, thereby driving the secondary shaft and the main shaft to rotate; A stepper motor, wherein the output shaft of the stepper motor is connected to the top side surface of the main seat, and the output shaft of the stepper motor is perpendicular to the top side surface of the main seat, driving the main seat to rotate around the length direction of the output shaft.
2. The multi-dimensional rotation bionic hip joint according to claim 1, characterized in that: A mounting portion is provided on the top side of the main seat, and an output shaft mounting hole is provided on the top of the mounting portion. The cross-section of the output shaft mounting hole is semicircular, and the output shaft mounting hole is arranged up and down with the main shaft rotating groove. The output shaft of the stepper motor matches the output shaft mounting hole and is embedded in the output shaft mounting hole.
3. The multi-dimensional rotation bionic hip joint according to claim 2, characterized in that: The mounting portion is a plate-like structure with a preset thickness, the output shaft mounting hole is opened at the center position of the mounting portion, and the plate surface of the mounting portion is provided with a plurality of fixing holes along the output shaft mounting hole, the number of the fixing holes is equal to the number of the secondary shaft rotating grooves, and the fixing holes and the secondary shaft rotating grooves are staggered.
4. The multi-dimensional rotation bionic hip joint according to any one of claims 1 to 3, characterized in that: There are four secondary shaft rotation grooves, which are arranged at intervals along the circumferential direction of the primary shaft rotation groove on the bottom end side of the primary seat; The rotating parts on the base correspond one to one with the secondary shaft rotating grooves on the main seat; The spacing distance between the rotating member and the main shaft fixing hole is equal to the spacing distance between the secondary shaft rotation groove and the main shaft rotation groove.
5. The multi-dimensional rotation bionic hip joint according to claim 4, characterized in that: The main shaft rotation groove and the secondary shaft rotation groove are both spherical groove structures; One end of the spindle in the longitudinal direction is a spindle rolling end, and the other end is a spindle fixed end. The spindle rolling end of the spindle is a spherical structure, embedded in the spindle rotating groove and rotated, and the spindle fixed end of the spindle is connected to the spindle fixing hole on the base; One end of the secondary shaft in the length direction is the secondary shaft rolling end, and the other end is the secondary shaft rotating end. The secondary shaft rolling end of the secondary shaft is a spherical structure, embedded in the internal rotation groove of the secondary shaft and rotates. The secondary shaft rotating end of the secondary shaft is rotationally connected to the rotating part on the base through a linear actuator.
6. The multi-dimensional rotation bionic hip joint according to claim 5, characterized in that: The rotating end of the secondary shaft is connected to the push rod of the linear actuator, and the push rod drives the secondary shaft to reciprocate along the length direction of the secondary shaft.
7. The multi-dimensional rotation bionic hip joint according to claim 5, characterized in that: Also includes: Main seat baffle; The main seat baffle is a plate-shaped structure with a preset thickness, and the plate surface of the main seat baffle is aligned with the bottom end side surface of the main seat, and is fixedly connected to the bottom end side surface of the main seat; A main shaft mounting hole is provided at the center of the main seat baffle, and a plurality of secondary shaft mounting holes are provided along the circumferential direction of the main shaft mounting hole. The side wall of the main shaft mounting hole is preset with an arc that matches the rolling end of the main shaft, and the side wall of the secondary shaft mounting hole is preset with an arc that matches the rolling end of the secondary shaft; The spacing angles of two adjacent secondary shaft mounting holes are equal, and the primary shaft mounting holes on the main seat baffle plate correspond to the primary shaft rotation grooves on the main seat, and the secondary shaft mounting holes on the main seat baffle plate correspond one to one to the secondary shaft rotation grooves on the main seat.
8. The multi-dimensional rotation bionic hip joint according to claim 7, characterized in that: The thickness of the main seat baffle is in the range of 1 / 9-1 / 10 of the diameter of the rolling end of the main shaft.
9. A bionic robot, comprising the multi-dimensional rotation bionic hip joint according to any one of claims 1 to 8, characterized in that: Also includes: Bionic robot brackets, mounting brackets and rotating bearings; The mounting bracket is an annular structure, the rotating bearing is arranged on the mounting bracket, and the outer ring of the rotating bearing is fixedly connected to the inner ring of the mounting bracket, and the inner ring of the rotating bearing is fixedly connected to the outer wall of the mounting portion; The plate surface of the mounting bracket is provided with a plurality of bracket mounting holes along the circumferential direction, the mounting bracket is bolted to the hip position of the bionic robot bracket, and the stepper motor is arranged at the hip position of the bionic robot bracket, the output shaft passes through the mounting bracket and the rotating bearing, and is embedded in the output shaft mounting hole, driving the main seat to rotate in the circumferential direction relative to the mounting bracket.
10. The bionic robot according to claim 9, characterized in that: There are two multi-dimensional rotating bionic hip joints, which are respectively arranged at the hip positions of the bionic robot support.